A building stair automatic polishing and painting robot

Abstract

The application relates to a building stair automatic polishing and painting robot. The robot comprises a stair climbing mechanism, an adjusting mechanism and a transposition mechanism. The stair climbing mechanism comprises a bearing frame and a rotating wheel set arranged on the bearing frame. The adjusting mechanism comprises a transposition frame movably arranged on the bearing frame. The transposition mechanism comprises two groups of operation assemblies. Each group of operation assemblies comprises a functional platform, a sliding module and a guide rail. The guide rail of each group of operation assemblies has an inclined section and a transition section connected with the inclined section. The transition sections of the two guide rails are at least partially arranged in the second direction and coincide with each other. The movement directions of the two functional platforms in the transition section are opposite, so as to switch one of the two functional platforms in the working area. The building stair automatic polishing and painting robot can realize the processing of the lower layer in a complex environment such as a corridor. The layout between the mechanisms is compact, the flexible switching of different functions can be realized, and the operation is flexible, convenient and efficient.

Description

Technical Field

[0001] This application relates to the field of construction technology, and in particular to an automatic sanding and painting robot for building staircases. Background Technology

[0002] With the development of construction technology, multi-functional mechanical equipment has emerged that can integrate sanding and painting. In most construction scenarios, sanding and painting operations can be completed by integrating multi-functional mechanical equipment, saving construction costs and improving construction efficiency.

[0003] However, existing integrated equipment that combines grinding and painting functions has a complex structure. The core structures for grinding and painting occupy a lot of space, and additional space must be reserved to switch between different functions. Therefore, it is difficult to achieve a compact layout between the various mechanisms, which can easily lead to low space utilization and increased overall equipment space. For complex terrains with limited construction space, such as staircases, the large space occupied by integrated multi-functional equipment increases the difficulty of switching between different functions, affecting the use of multi-functional integrated equipment and limiting its applicable scenarios. Summary of the Invention

[0004] Therefore, it is necessary to provide an automatic sanding and painting robot for building staircases to address the problems of poor coordination between the various mechanisms in existing integrated multi-functional devices, which makes it difficult to achieve a compact layout and results in low space utilization, causing inconvenience in the use of the overall equipment and limiting its applicable scenarios.

[0005] An automated staircase sanding and painting robot for construction includes a stair-climbing mechanism, an adjustment mechanism, and a switching mechanism. The stair-climbing mechanism includes a support frame and a set of rotating wheels mounted on the support frame. The adjustment mechanism includes a switching frame movably mounted on the support frame, with a working area on the switching frame. The length direction of the switching frame is defined as a first direction, and the width direction as a second direction. The switching mechanism includes two sets of operating components, each set movably mounted on the switching frame. Each set of operating components includes a functional platform, a sliding module, and a guide rail. The sliding module is movable along the first direction, and the functional platform is slidably mounted along the guide rail and movably mounted on the sliding module along the second direction. The functional platform is used to support a sanding device or a painting device. Along the first direction, the guide rail of each set of operating components has an inclined section and a transition section connected to the inclined section. The transition sections of the two guide rails at least partially overlap in the second direction. The two functional platforms move in opposite directions in the transition sections to switch one of the two functional platforms in the working area.

[0006] In one embodiment of this application, the transition section of the guide rail is a straight section parallel to the first direction, and both ends of the transition section are provided with inclined sections.

[0007] In one embodiment of this application, along the first direction, the inclined segments are all inclined toward the inside of the transposition frame.

[0008] In one embodiment of this application, the two guide rails are misaligned along a first direction.

[0009] In one embodiment of this application, the functional platform includes a support plate, a sliding part and a sliding rod respectively fixed to the support plate, the sliding part being slidably disposed in the sliding module, and the end of the sliding rod away from the support plate being inserted into the guide rail and being able to slide along the guide rail.

[0010] In one embodiment of this application, the operating component further includes a drive component and a carrier plate that is drively connected to the drive component. The drive component is rotatably mounted on the support plate and can drive the carrier plate to move toward the surface of the stairwell steps.

[0011] In one embodiment of this application, the adjustment mechanism further includes an adjustment frame hinged to the support frame, and the shifting frame is movably disposed on the adjustment frame along the first direction.

[0012] In one embodiment of this application, the adjustment mechanism further includes a lead screw drive assembly, which includes a lead screw motor, a lead screw, and a transmission component. The lead screw motor is fixed to the support frame and driven by the lead screw. The lead screw is driven by the transmission component along a first direction, and the transmission component is hinged to the shift frame.

[0013] In one embodiment of this application, the adjustment mechanism further includes a sliding drive assembly, which includes a drive motor, a crank, and a transmission rod. The drive motor is fixed to the adjustment frame and driven by the crank, and the two ends of the transmission rod are respectively hinged to the crank and the adjustment frame.

[0014] In one embodiment of this application, the rotating wheel assembly includes a planetary wheel climbing assembly and a wheel-leg climbing assembly, wherein the moving wheels of both the planetary wheel climbing assembly and the wheel-leg climbing assembly are Mecanum wheels.

[0015] In summary, the stair-climbing mechanism enables the climbing motion of the stair steps via rotating wheel sets. The shifting frame is movably mounted on the support frame, allowing the shifting frame to be adjusted to a suitable position relative to the stair steps after the climbing mechanism completes its ascent, facilitating the processing device on the functional platform to handle the stair steps. The guide rail has an inclined section and a transition section. The transition section allows the entire operating component to move along a first direction, while the inclined section allows the functional platform to move relative to the sliding module along a second direction on the inclined section when the sliding module moves from the transition section to the inclined section. The transition sections of the two guide rails overlap at least partially in the second direction, allowing both functional platforms to move closer to or further away from the work area along the inclined section. This enables the switching of the two functional platforms within the work area and avoids structural interference between the two functional platforms during switching, thereby improving the overall space utilization of the equipment. Attached Figure Description

[0016] Figure 1 A schematic diagram of an automated sanding and painting robot for building staircases according to one embodiment of this application;

[0017] Figure 2 From a bird's-eye view Figure 1 A schematic diagram of an automated sanding and painting robot for building staircases in China;

[0018] Figure 3 for Figure 1 A schematic diagram of the guide rail in an automated sanding and painting robot for building staircases;

[0019] Figure 4 From a side view perspective Figure 1 A schematic diagram of an automated sanding and painting robot for building staircases in China;

[0020] Figure 5 for Figure 4 Enlarged schematic diagram of part A in the automatic sanding and painting robot for building staircases;

[0021] Figure 6 for Figure 1 A partial schematic diagram of the functional platform switching process in the automatic sanding and painting robot for building staircases.

[0022] Figure 7 for Figure 1 A partial schematic diagram of the operating components in an automated sanding and painting robot for building staircases;

[0023] Figure 8 for Figure 1 A schematic diagram of an automated sanding and painting robot for building staircases climbing steps.

[0024] Figure 9 for Figure 8A magnified schematic diagram of part B in the automatic sanding and painting robot for building staircases.

[0025] Figure label:

[0026] 10. Stair climbing mechanism; 11. Support frame; 12. Rotating wheel assembly; 121. Planetary gear stair climbing assembly; 122. Wheel-leg type stair climbing assembly; 20. Adjustment mechanism; 21. Positioning frame; 22. Adjustment frame; 23. Screw drive assembly; 231. Screw motor; 232. Screw; 233. Transmission component; 24. Sliding drive assembly; 241. Drive motor; 242. Crank; 243. Transmission rod; 30. Positioning mechanism; 31. Operating assembly; 311. Functional platform; 3111. Support plate; 31 12. Sliding part; 3113. Sliding rod; 312. Sliding module; 313. Guide rail; 3131. Inclined section; 3132. Transition section; 314. Drive assembly; 3141. Tilting component; 3142. Adjusting plate; 3143. Linkage assembly; 315. Carrier plate; 316. Servo; 317. Transmission link; 32. Synchronous pulley; 33. Synchronous belt; 100. Working area; 200. First direction; 300. Second direction; 400. Grinding device; 500. Painting device. Detailed Implementation

[0027] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0028] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0029] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0030] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0031] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0032] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0033] Considering that in the existing technology, the poor coordination between the various mechanisms in an integrated multi-functional device makes it difficult to achieve a compact layout and results in low space utilization, causing inconvenience in the use of the overall equipment and limitations in applicable scenarios, this application provides an automatic sanding and painting robot for building staircases. Through the integrated arrangement of various mechanisms, this automatic sanding and painting robot for building staircases can process the lower layers in complex environments such as corridors. The compact layout between the various mechanisms allows for flexible switching between different functions, making operation flexible, convenient, and highly efficient.

[0034] An automated sanding and painting robot for building staircases includes a climbing mechanism 10, an adjusting mechanism 20, and a shifting mechanism 30. The climbing mechanism 10 includes a support frame 11 and a set of rotating wheels 12 disposed on the support frame 11. The adjusting mechanism 20 includes a shifting frame 21 movably disposed on the support frame 11, with a working area 100 on the shifting frame 21. The length direction of the shifting frame 21 is set as a first direction 200, and the width direction of the shifting frame 21 is set as a second direction 300. The shifting mechanism 30 includes two sets of operating components 31, each set of operating components 31 movably disposed on the shifting frame 21. Each set of operating components 31 includes a functional platform 311, a sliding module 312, and a guide rail 313. 12 is movable along the first direction 200, the functional platform 311 is slidably disposed along the guide rail 313, and is movably disposed on the sliding module 312 along the second direction 300. The functional platform 311 is used to support the grinding device 400 or the painting device 500. Along the first direction 200, the guide rail 313 of each set of operating components 31 has an inclined section 3131 and a transition section 3132 connected to the inclined section 3131. The transition sections 3132 of the two guide rails 313 are at least partially overlapped in the second direction 300. The two functional platforms 311 move in opposite directions in the transition section 3132 to switch one of the two functional platforms 311 in the working area 100.

[0035] Specifically, see Figures 1 to 9 As shown, the stair-climbing mechanism 10 can climb the stair steps by rotating the wheel set 12. The shifting frame 21 is movably mounted on the support frame 11, so that after the stair-climbing mechanism 10 completes climbing, the shifting frame 21 can be adjusted to a suitable position relative to the stair steps, facilitating the processing device on the functional platform 311 to process the stair steps. The guide rail 313 has an inclined section 3131 and a transition section 3132. The transition section 3132 allows the entire operating component 31 to move along the first direction 200, and the inclined section 3131 allows the sliding module 312 to move from the transition section 3132. When the device moves to the tilt section 3131, the functional platform 311 can be moved relative to the sliding module 312 along the second direction 300 on the tilt section 3131. The transition sections 3132 of the two guide rails 313 are at least partially overlapped in the second direction 300, so that the two functional platforms 311 can move closer to or further away from the working area 100 along the tilt section 3131, thereby realizing the switching of the two functional platforms 311 in the working area 100 and avoiding structural interference between the two functional platforms 311 during the switching, thereby improving the overall space utilization of the equipment.

[0036] It is worth mentioning that, in this embodiment, with the second direction 300 as the longitudinal coordinate axis and the first direction 200 as the transverse coordinate axis, the transition segment 3132 is at least partially overlapped in the second direction 300. This means that the two transition segments 3132 of the two guide rails 313 have at least part of the same coordinates in the first direction 200, but different coordinates in the second direction 300. Furthermore, from the Z-axis perspective perpendicular to the first direction 200 and the second direction 300, the transition segment 3132 is at least partially overlapped in the second direction 300. This allows both guide rails 313 to be set close to the working area 100, thereby enabling the switching of the two functional platforms 311 in the working area 100 and avoiding structural interference between the two functional platforms 311 during switching, thus improving the overall space utilization.

[0037] In this embodiment, the transition section 3132 of the guide rail 313 is a straight section parallel to the first direction 200, and both ends of the transition section 3132 are provided with inclined sections 3131.

[0038] Optionally, see Figures 1 to 6 As shown, the transition section 3132 is a straight section parallel to the first direction 200, allowing the functional platform 311 to slide along the first direction 200 together with the sliding module 312. When the functional platform 311 slides to the inclined section 3131 with the sliding module 312, the functional platform 311 is limited by the guide rail 313 and can only slide along the inclined section 3131, thereby realizing the sliding of the functional platform 311 relative to the sliding module 312 in the second direction 300, and thus enabling the grinding device 400 or the painting device on the functional platform 311 to slide. Device 500 and other devices can be located in the working area 100 on the transposition frame 21 to achieve the corresponding treatment of the staircase surface; both ends of the transition section 3132 are provided with inclined sections 3131, so that when one functional platform 311 is located in the working area 100, the other working platform can be moved to the other end away from the working area 100 and located in the inclined section 3131, thereby reducing the distance of the functional platform 311 protruding from the transposition frame 21, improving the overall space utilization rate, and ensuring the flexible switching of the functional platform 311.

[0039] It is worth mentioning that in this embodiment, the two functional platforms 311 are respectively used to support the grinding device 400 or the painting device 500 for grinding and painting the staircase surface. Similarly, in other embodiments, the functional platform 311 can also support other devices such as cleaning devices, as long as it can be flexibly moved on the switching frame 21 along with the functional platform 311 and can cooperate with the subsequent flipping mechanism to switch between the horizontal and vertical working surfaces. There are no restrictions here, and the specific arrangement will not be described in detail.

[0040] In this embodiment, along the first direction 200, the inclined segments 3131 are all inclined towards the inner side of the transposition frame 21. Optionally, refer to... Figures 1 to 6 As shown, the inclined section 3131 extends inclined towards the inner side of the transposition frame 21, so that the functional platform 311 can move to the middle position on the transposition frame 21 when the inclined section 3131 moves, thereby reducing the space occupied by the whole equipment in the second direction 300, and facilitating the treatment of the staircase surface in a limited space.

[0041] In this embodiment, the two guide rails 313 are staggered along the first direction 200. Optionally, refer to... Figures 1 to 6 As shown, the two guide rails 313 are staggered, which further reduces the width distance of the switching frame 21 along the second direction 300, and ensures that the two functional platforms 311 can move sequentially to the working area 100 along the staggered guide rails 313, so as to realize the flexible switching of different functional platforms 311.

[0042] It is worth mentioning that in this embodiment, the two guide rails 313 are misaligned, which means that the inclined sections 3131 of the two guide rails 313 are misaligned along the first direction 200. This reduces the distance between the transition sections 3132 of the two guide rails 313 along the second direction 300, thereby further reducing the width of the transposition frame 21 along the second direction 300, and further reducing the space occupied by the overall equipment in the second direction 300, thus improving the space utilization of the overall equipment.

[0043] In this embodiment, the functional platform 311 includes a support plate 3111, a sliding part 3112 and a sliding rod 3113 respectively fixed on the support plate 3111. The sliding part 3112 is slidably disposed on the sliding module 312, and the end of the sliding rod 3113 away from the support plate 3111 is inserted into the guide rail 313 and can slide along the guide rail 313.

[0044] Optionally, see Figures 1 to 6 As shown, the support plate 3111 can support and connect other devices such as the grinding device 400 and the painting device 500. The sliding rod 3113 allows the support plate 3111 to slide along the guide rail 313. When the sliding rod 3113 slides to the inclined section 3131, the sliding rod 3113 can limit the support plate 3111 so that the support plate 3111 can only slide along the inclined section 3131, thereby realizing the sliding of the support plate 3111 relative to the sliding module 312 in the second direction 300, improving the overall space utilization.

[0045] It is worth mentioning that in this embodiment, the support frame is provided with multiple synchronous pulleys 32 and synchronous belts 33 connected to the synchronous pulleys 32 along the circumferential direction. The sliding module 312 of the functional platform 311 is fixedly connected to the synchronous belt 33. The synchronous belt 33 is driven to rotate by the synchronous pulleys 32, so that the synchronous belt 33 and the sliding module 312 are moved relative to the shift frame 21 along the first direction 200. When the sliding module 312 drives the sliding rod 3113 to move from the transition section 3132 to the inclined section 3131, the support plate 3111 is simultaneously driven by the sliding module 312 along the first direction 200 and the limiting resistance of the sliding rod 3113 tilting on the inclined section 3131. Thus, it can slide relative to the sliding module 312 along the second direction 300 on the inclined section 3131, thereby realizing the flexible switching of the positions of the two functional platforms 311.

[0046] Similarly, in other embodiments, a moving drive motor 241 can be provided to cooperate with the sliding module 312 and the support plate 3111 respectively, so as to realize the sliding module 312 and the functional platform 311 sliding in different directions. There are no restrictions here, and the specific arrangement will not be described in detail. The specific arrangement can be referred to the arrangement of the synchronous pulley 32 and the synchronous belt 33 described above.

[0047] In this embodiment, the operation component 31 further includes a drive component 314 and a carrier plate 315 that is connected to the drive component 314 in a transmission manner. The drive component 314 is rotatably disposed on the support plate 3111 and can drive the carrier plate 315 to move toward the direction close to the staircase step surface.

[0048] Optionally, see Figures 1 to 7 As shown, the drive assembly 314 includes a tilting member 3141, an adjusting plate 3142, and a connecting rod assembly 3143. The tilting member 3141 is rotatably connected to the support plate 3111. The adjusting plate 3142 is fixed to the tilting member 3141. The two ends of the connecting rod assembly 3143 are respectively hinged to the adjusting plate 3142 and the carrier plate 315. The carrier plate 315 is used to support the grinding device 400 or the painting device 500. When the staircase step surface needs to be treated, the tilting shaft tilts towards the direction close to the staircase step surface, thereby adjusting the angle of the carrier plate 315. The linkage assembly 3143 drives the carrier plate 315 to move towards the staircase step surface, so that the grinding device 400 and other devices on the carrier plate 315 can fit against the staircase step surface. In addition, the carrier plate 315 can also be equipped with a servo motor 316 and a transmission linkage 317. The servo motor 316 can further adjust the angle of the grinding device 400 or the painting device 500 through the transmission linkage 317, thereby ensuring that the grinding device 400 or the painting device 500 can fit against the staircase step surface and improve the treatment quality of the corresponding step surface.

[0049] Similarly, in other embodiments, other forms of flipping components 3141 and linkage 3143 can be provided, and other forms of angle adjustment components can also be provided on the carrier plate 315, as long as the angle and distance adjustment of the grinding device 400 and the painting device 500 can be realized, ensuring that the grinding device 400 and the painting device 500 can contact the staircase surface and complete the corresponding treatment of the staircase surface. The specific arrangement will not be described in detail. The specific arrangement can be referred to the arrangement of the drive component 314, servo motor 316 and transmission linkage 317 described above.

[0050] In this embodiment, the adjustment mechanism 20 further includes an adjustment frame 22, which is hinged to the support frame 11. Along the first direction 200, the shift frame 21 is movably disposed on the adjustment frame 22.

[0051] Optionally, see Figures 1 to 9 As shown, the adjustment frame 22 is hinged relative to the support frame 11 through the screw drive assembly 23, and moved relative to the support frame 11 through the sliding drive assembly 24. When the climbing mechanism 10 climbs to the next step, the entire equipment, including the support frame 11, will be in a state with a certain slope. The screw drive assembly 23 can drive the shifting frame 21 to a horizontal state, and the sliding drive assembly 24 can move the horizontally adjusted support frame 11 to a position close to the staircase surface, so that the functional platform 311 on the shifting frame 21 can process the staircase surface, realize the compact layout of the support frame 11, the shifting frame 21 and the shifting mechanism 30, and realize the flexible adjustment between the various structures, thereby improving the overall structural space utilization.

[0052] Similarly, in other embodiments, other structures may be provided between the support frame 11 and the transposition frame 21, as long as the transposition frame 21 can be movably connected relative to the support frame 11, and the transposition frame 21 can be adjusted in angle and distance along the first direction 200. No restrictions are imposed here, and the specific arrangement will not be described in detail. The specific arrangement can be referred to the arrangement of the adjustment frame 22 described above.

[0053] In this embodiment, the adjustment mechanism 20 further includes a lead screw drive assembly 23, which includes a lead screw motor 231, a lead screw 232, and a transmission component 233. The lead screw motor 231 is fixed to the support frame 11 and is driven by the lead screw 232. The lead screw 232 is driven by the transmission component 233 along the first direction 200. The transmission component 233 is hinged to the adjustment frame 22.

[0054] Optionally, see Figures 1 to 9As shown, one end of the transmission component 233 connected to the lead screw 232 can be driven by the lead screw 232 to move in a straight line. The end of the transmission component 233 away from the lead screw 232 is hinged to the adjustment frame 22. When the support frame 11 is in a sloped state, the lead screw motor 231 drives the lead screw 232 to drive the transmission component 233 to move in a straight line, so that the end of the transmission component 233 away from the lead screw 232 can push and lift the adjustment frame 22. The angle between the shift frame 21 and the adjustment frame 22 is relatively fixed, so that the shift frame 21 can rotate with the adjustment frame 22 along the hinge of the adjustment frame 22 relative to the support frame 11, thereby realizing the angle adjustment of the shift frame 21. The layout of each mechanism is compact, the adjustment effect is good, and the overall space utilization is high.

[0055] In this embodiment, the adjustment mechanism 20 further includes a sliding drive assembly 24, which includes a drive motor 241, a crank 242, and a transmission rod 243. The drive motor 241 is fixed to the adjustment frame 22 and driven by the crank 242. The two ends of the transmission rod 243 are respectively hinged to the crank 242 and the adjustment frame 22.

[0056] Optionally, see Figures 1 to 9 As shown, after the shift frame 21 is adjusted to a horizontal state, when the drive motor 241 drives the crank 242 to rotate, it can drive the shift frame 21 to slide relative to the adjustment frame 22 in a straight line through the transmission rod 243. This allows the shift frame 21 as a whole to slide along the first direction 200 to be close to the staircase surface, realizing distance compensation between the various structures on the shift frame 21 and between the staircase surfaces during the staircase step climbing process. This ensures the normal use of the functions of each mechanism and achieves a compact layout. The grinding device 400 or painting device 500 on the functional platform 311 only needs to move within a small stroke to process the staircase surface. This avoids the problem of excessive space occupation caused by the large size of other adjustment structures such as the grinding device 400 or painting device 500 after the lack of movement adjustment compensation of the sliding drive component 24.

[0057] In this embodiment, the rotating wheel assembly 12 includes a planetary wheel climbing assembly 121 and a wheel-leg climbing assembly 122, wherein the moving wheels of both the planetary wheel climbing assembly 121 and the wheel-leg climbing assembly 122 are Mecanum wheels.

[0058] Optionally, see Figures 1 to 9As shown, the Mecanum wheel can move in all directions, enabling the automatic sanding and painting robot for building staircases to move horizontally on the stair surface. The horizontal movement can be achieved by driving the Mecanum wheel through the corresponding drive motor 241. When the Mecanum wheel moves from the left side to the right side of the same stair surface, the sanding device 400 or painting device 500 on the functional platform 311 will move from the left side to the right side of the stair surface along with the support frame 11, thus ensuring the complete treatment of the stair surface.

[0059] One construction method according to this embodiment includes: after moving the corridor equipment into place, the functional platform 311 equipped with a grinding device 400 moves to the work area 100 to perform grinding on the step surface. As the Mecanum wheel moves horizontally, the grinding device 400 can complete the complete treatment of the step surface. The rotating wheel set 12 climbs to the next step. At this time, the entire equipment is in an inclined state with a slope. The screw drive assembly 23 adjusts the shift frame 21 to a horizontal state, and the sliding drive assembly 24 drives the shift frame 21 to move closer to the step along the first direction 200. The surface slides, and the grinding process of the grinding device 400 can be repeated. In this way, the complete grinding of the floor steps can be achieved through the climbing mechanism 10 and the adjustment mechanism 20. When the climbing mechanism 10 climbs to the top step, the switching mechanism 30 starts to work, and the functional platform 311 carrying the painting device 500 moves to the working area 100 to cooperate with the climbing mechanism 10 to achieve the painting treatment of the complete step surface. The climbing mechanism 10 returns along the same route, so that the complete painting treatment of all staircase step surfaces can be achieved. The layout between the various structures is compact and easy to use, which can significantly improve the construction efficiency.

[0060] It is worth mentioning that, in this embodiment, the automatic sanding and painting robot for building staircases also includes a control module that works in conjunction with each mechanism. The control module enables intelligent control of the automatic sanding and painting robot for building staircases, further improving the user experience and efficiency.

[0061] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0062] The embodiments described above are merely examples of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application.

Claims

1. An automated sanding and painting robot for building staircases, characterized in that, include: The stair-climbing mechanism (10) includes a support frame (11) and a set of rotating wheels (12) disposed on the support frame (11). The adjustment mechanism (20) includes a shifting frame (21) movably disposed on the support frame (11), the shifting frame (21) having a working area (100), the length direction of the shifting frame (21) being set as a first direction (200), and the width direction of the shifting frame (21) being set as a second direction (300). The shifting mechanism (30) includes two sets of operating components (31). Each set of operating components (31) is movably disposed on the shifting frame (21). Each set of operating components (31) includes a functional platform (311), a sliding module (312), and a guide rail (313). The sliding module (312) is movable along the first direction (200). The functional platform (311) is slidably disposed along the guide rail (313) and is movably disposed on the sliding module (312) along the second direction (300). The functional platform (311) is used to support a grinding device (400) or a painting device (500). Along the first direction (200), each set of the operating components (31) has a guide rail (313) with an inclined section (3131) and a transition section (3132) connected to the inclined section (3131), and the transition sections (3132) of the two guide rails (313) are at least partially coincident in the second direction (300), and the two functional stages (311) move in opposite directions in the transition section (3132) to switch one of the two functional stages (311) in the working area (100).

2. The automatic sanding and painting robot for building staircases according to claim 1, characterized in that, The transition section (3132) of the guide rail (313) is a straight section parallel to the first direction (200), and the inclined section (3131) is provided at both ends of the transition section (3132).

3. The automatic sanding and painting robot for building staircases according to claim 2, characterized in that, Along the first direction (200), the inclined segments (3131) are all inclined toward the inside of the transposition frame (21).

4. The automatic sanding and painting robot for building staircases according to claim 3, characterized in that, Along the first direction (200), the two guide rails (313) are misaligned.

5. The automatic sanding and painting robot for building staircases according to claim 4, characterized in that, The functional platform (311) includes a support plate (3111), a sliding part (3112) and a sliding rod (3113) respectively fixed on the support plate (3111). The sliding part (3112) is slidably disposed on the sliding module (312). One end of the sliding rod (3113) away from the support plate (3111) is inserted into the guide rail (313) and can slide along the guide rail (313).

6. The automatic sanding and painting robot for building staircases according to claim 5, characterized in that, The operating component (31) further includes a drive component (314) and a carrier plate (315) that is connected to the drive component (314) in a transmission manner. The drive component (314) is rotatably disposed on the support plate (3111) and can drive the carrier plate (315) to move toward the direction close to the staircase step surface.

7. The automatic sanding and painting robot for building staircases according to any one of claims 1 to 6, characterized in that, The adjustment mechanism (20) further includes an adjustment frame (22), which is hinged to the support frame (11). Along the first direction (200), the shift frame (21) is movably disposed on the adjustment frame (22).

8. The automatic sanding and painting robot for building staircases according to claim 7, characterized in that, The adjustment mechanism (20) further includes a lead screw drive assembly (23), which includes a lead screw motor (231), a lead screw (232), and a transmission component (233). The lead screw motor (231) is fixed to the support frame (11) and driven by the lead screw (232). The lead screw (232) is driven by the transmission component (233) along the first direction (200). The transmission component (233) is hinged to the adjustment frame (22).

9. The automatic sanding and painting robot for building staircases according to claim 8, characterized in that, The adjustment mechanism (20) further includes a sliding drive assembly (24), which includes a drive motor (241), a crank (242), and a transmission rod (243). The drive motor (241) is fixed to the adjustment frame (22) and driven by the crank (242). The two ends of the transmission rod (243) are respectively hinged to the crank (242) and the adjustment frame (22).

10. The automatic sanding and painting robot for building staircases according to any one of claims 1 to 6, characterized in that, The rotating wheel assembly (12) includes a planetary wheel climbing assembly (121) and a wheel-leg climbing assembly (122), wherein the moving wheels of the planetary wheel climbing assembly (121) and the wheel-leg climbing assembly (122) are Mecanum wheels.

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